An Adaptive Stereo Grasping and Sorting Manipulator Device

Abstract

An adaptive three-dimensional grasping and sorting manipulator device, comprising a main body housing. The main body housing is a downwardly buckled cylindrical structure. A soft body capsule layer is sleeved inside the main body housing. A flowing medium is filled inside the capsule of the soft body capsule layer. The inner space of the soft body capsule layer is a grasping cavity. A plurality of peristaltic turning strips are arranged on the inner circumferential surface of the soft body capsule layer. Peristaltic grasping points are arranged inside the peristaltic turning strips. A detection device for detecting the shape state of the object to be grasped is arranged inside the main body housing. The specified peristaltic turning strips are controlled to move back and forth. The peristaltic grasping points on the driven peristaltic turning strips are closely attached to the side surface of the object to be grasped, driving the object to be grasped to turn axially along the main body housing. The object to be grasped stops after turning to the specified shape orientation, and the object to be grasped is maintained in the specified shape orientation state. The present invention can achieve a safer grasping action, reduce the excessive space occupied by the installation of the robotic arm, and improve the efficiency of product sorting.

Description

Technical Field

[0001] The present invention relates to a manipulator technology, and in particular to an adaptive three-dimensional grasping and sorting manipulator device. Background Art

[0002] In current industrial production, most products need to go through processing of multiple processes and subsequent sorting. In general modern assembly line operations, different types of robotic arms are used to assist in the processes or between processes, such as transferring products and performing actions like flipping products, so that the products can reach or be adjusted to a set placement state as required. Currently, robotic arms and manipulators mainly use two methods: clamping with clips or claws and adsorbing with suction cups. Before grasping, it is necessary to use a separately equipped detection device to detect the physical state of the product, such as its shape, orientation, or position, and then control the manipulator to clamp the specified part. After grasping, a necessary rotation in the two-dimensional plane direction is performed to adjust its placement direction so that it can be placed in the target position in the designed direction.

[0003] However, after such a manipulator grasps a product on a plane, it can generally only control the rotation in the two-dimensional horizontal direction. Otherwise, the product cannot be placed in the grasping direction when it is grasped. If a rotation adjustment in the vertical direction is to be achieved, it is necessary to grasp from the side, then rotate and adjust in the vertical direction, and then place it at the specified position. This requires additionally designing a side movement space for the manipulator, increasing the space occupied by the product conveying path. Or it is necessary to set up a robotic arm with more joints to complete the three-dimensional rotation adjustment, which is costly and also occupies a large space. Moreover, whether it is a rigid robotic claw or a robotic claw with a rubber buffer layer, it is very easy to cause damage to the product due to differences in clamping force or direction. Summary of the Invention

[0004] The technical problem solved by the present invention is to provide an adaptive three-dimensional grasping and sorting manipulator device that can grasp products without damage and perform an action of flipping the product to a specified shape orientation inside the manipulator after grasping, making the overall operation of the manipulator simpler and reducing the space occupancy rate of the assembly line.

[0005] The technical solution of the present invention is as follows:

[0006] An adaptive three-dimensional grasping and sorting manipulator device, which includes a main body housing. The main body housing is a downwardly buckled cylindrical structure. A soft body capsule layer is sleeved inside the main body housing. The inside of the soft body capsule layer is filled with a flowing medium. The soft body capsule layer is a hollow tubular structure, and its inner space is a grasping cavity.

[0007] On the inner circumferential surface of the soft capsule layer, a plurality of peristaltic flipping strips are provided at set angular distances. The peristaltic flipping strips are arranged along the axial direction of the inner side of the soft capsule layer. The lower ends of the peristaltic flipping strips bypass the lower end of the soft capsule layer to the outside of the main body housing and are connected to a reel; the upper ends of the peristaltic flipping strips pass through above the soft capsule layer and are connected to a reel drive provided at the top of the main body housing. The inner side of the peristaltic flipping strip is provided with peristaltic gripping points.

[0008] A detection device for detecting the shape state of the object to be grasped is provided inside the main body housing. The detection device detects the shape and orientation information of the object to be grasped and sends the shape and orientation information to the control center.

[0009] The control center receives and processes the shape and orientation information, controls the specified reel drive to act, pulls the specified peristaltic flipping strip to move back and forth along the axial direction of the main body housing. The peristaltic gripping points on the driven peristaltic flipping strip closely adhere to the side surface of the object to be grasped, driving the object to be grasped to flip along the axial direction of the main body housing. The object to be grasped stops after flipping to the specified shape and orientation, and maintains the object to be grasped in the specified shape and orientation state.

[0010] For the adaptive three-dimensional grasping and sorting manipulator device as described above, the following control steps are adopted for the grasping operation of the product:

[0011] Start the control center, control the bottom opening of the grasping cavity inside the soft capsule layer to be buckled on the corresponding object to be grasped, and the soft capsule layer fits the outer surface of the object to be grasped.

[0012] Lift the main body housing, place the object to be grasped into the grasping cavity, and grasp the object to be grasped through the inner side surface of the soft capsule layer.

[0013] Control the specified reel drive to act, pull the specified peristaltic flipping strip to move back and forth along the axial direction of the main body housing. The peristaltic gripping points on the driven peristaltic flipping strip closely adhere to the side surface of the object to be grasped, driving the object to be grasped to flip along the axial direction of the main body housing. The object to be grasped stops after flipping to the specified shape and orientation, and maintains the object to be grasped in the specified shape and orientation state; and move the object to be grasped above the specified position.

[0014] Control the folding plate to open outwards, and at the same time move the folding part of the soft capsule layer downwards close to the surface of the specified position; release the soft capsule layer, and let the object to be grasped with the adjusted placement direction fall onto the specified position.

[0015] Lift the main body housing and move it above the next product to be grasped.

[0016] The adaptive three-dimensional grasping and sorting manipulator device as described above, wherein the peristaltic flipping strip is an inflatable strip structure, and convex packets are provided on the inner side surface of the peristaltic flipping strip, and the peristaltic grasping points are provided on the lower side surface of the convex packet structure.

[0017] The adaptive three-dimensional grasping and sorting manipulator device as described above, wherein in the control method steps, before pulling a specified peristaltic flipping strip, air is pumped out of the peristaltic flipping strip to bulge the convex packet outwards, and the peristaltic grasping points are attached to the outer surface of the object to be grasped.

[0018] The adaptive three-dimensional grasping and sorting manipulator device as described above, wherein the detection device is installed at the upper end of the main body housing opposite to the object to be grasped, and the detection device is an image detector.

[0019] The adaptive three-dimensional grasping and sorting manipulator device as described above, wherein a folding part is provided at the lower end of the soft body capsule layer, and a plurality of folding plates are correspondingly provided outside the folding part, and the bottom of each folding plate is hinged to the lower edge of the main body housing; a folding driving mechanism for pushing the folding plate from the outside to the inside and folding it to a specified position is provided on the folding plate;

[0020] In the control steps, after the control center is started, first control the folding driving mechanism to drive the folding plate to the horizontal position state facing outwards, open the opening at the bottom of the grasping cavity, and buckle it on the corresponding object to be grasped;

[0021] Then, control the folding driving mechanism to drive the folding driving mechanism to cover the bottom of the soft body capsule layer inwards, and at the same time lift the main body housing;

[0022] When the object to be grasped is moved above the specified position, control the folding plate to open outwards, and at the same time move the folding part of the soft body capsule layer downwards close to the surface of the specified position; release the soft body capsule layer, and drop the object to be grasped with the adjusted placement direction onto the specified position.

[0023] The adaptive three-dimensional grasping and sorting manipulator device as described above, wherein a perforation is provided on the folding part, and the peristaltic flipping strip passes through the perforation and is connected to the reel.

[0024] It can be known from the above description that the present invention indeed has the following advantages:

[0025] The adaptive three-dimensional grasping and sorting manipulator device of the present invention, through ingenious design, changes the structure and clamping action mode of the conventional manipulator, forms an action mode similar to soft body phagocytosis, and "eats" the product into the grasping cavity of the manipulator. Since the soft body capsule layer is a soft body layer formed by filling a medium, it can effectively protect the product from being clamped or worn. Through the setting of the peristaltic turning strip in the grasping cavity, the product can be turned along the direction of the axis of the grasping cavity with the peristaltic turning strip at the specified position, without the need to clamp the product from the side and then turn it like the existing robotic arm, but directly turn it inside the manipulator. When it is moved to the specified placement position, it can be directly placed on the placement plane to achieve the purpose of placing the product in the specified shape and direction. The present invention has a novel concept, breaks through the conventional design mode of the existing robotic arm, realizes a more effective operation mode of the robotic arm, can also effectively reduce the installation space required by the production line due to the multiple rotations of the robotic arm, or adopt a structure with more segments of robotic limbs, reduce the space occupation, reduce the cost of the robotic arm, and improve the product competitiveness. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic cross-sectional structure diagram of a preferred embodiment of the present invention;

[0027] Figure 2 It is a schematic structure diagram after grasping the product of a preferred embodiment of the present invention;

[0028] Figure 3 It is a schematic partial structure diagram of the peristaltic turning strip of the present invention;

[0029] Figure 4 It is a schematic partial structure diagram of the peristaltic turning strip after air extraction of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0030] In order to have a clearer understanding of the technical features, objectives and effects of the present invention, the specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0031] An adaptive three-dimensional grasping and sorting manipulator device proposed by the present invention, in its preferred embodiment, please refer to Figures 1 to 2As shown, preferably, the adaptive three-dimensional grasping and sorting manipulator device of the present invention includes a main body housing 1, and the main body housing 1 is a downwardly buckled cylindrical structure. A soft body capsule layer 2 is sleeved inside the main body housing 1. A flowing medium is filled inside the soft body capsule layer 2. Preferably, the soft body capsule layer 2 can be an airbag structure or a capsule structure filled with liquid, which is used to wrap and clamp the product to achieve full wrapping without damaging the product. The soft body capsule layer 2 is a hollow tubular structure, and its inner space is a grasping cavity. The main body housing is buckled downward above the corresponding product, and the product enters the grasping cavity. Through the wrapping of the soft body capsule layer 2, the grasping action of the product can be realized, and the product is kept in the grasping cavity without falling. In addition, a connection structure for connecting an external transmission mechanism is provided at the top of the main body housing 1, which can be used to be installed on other robotic arms, fixed brackets, or some mobile mechanisms to meet the corresponding installation requirements.

[0032] A plurality of peristaltic turning strips 3 are provided on the inner circumferential surface of the soft body capsule layer 2 at a set angular distance at intervals. The peristaltic turning strips 3 are arranged along the inner axis of the soft body capsule layer 2. The lower end of the peristaltic turning strip 3 bypasses the lower end of the soft body capsule layer 2 to the outside of the main body housing 1 and is connected to a reel. Preferably, the reel is fixed on the outer side surface of the main body housing 1. The upper end of the peristaltic turning strip 3 passes through above the soft body capsule layer 2 and is connected to a reel driving device arranged at the top of the main body housing 1. A peristaltic grasping point 4 is arranged inside the peristaltic turning strip 3. Through the winding and unwinding actions of the reel driving device, it can be used to drive the back-and-forth movement of the peristaltic turning strip 3. Thus, if the peristaltic grasping point 4 on the peristaltic turning strip 3 touches the surface of the product, the product will be driven by the peristaltic turning strip 3 to rotate. And this rotation is a vertical rotation perpendicular to the horizontal direction when the product is placed on a plane. Therefore, through this action, the full-angle rotation of the product in the vertical direction in the grasping cavity can be realized. Combining with the horizontal rotation of the main body housing 1 of the present invention around the central axis, the all-round rotation of the product in the three-dimensional space can be realized, so as to realize that no matter how the product is placed when it is grasped on the conveying device, it can rotate all-round in the grasping cavity of the present invention until it meets the preset placement angle. Preferably, the present invention sets a plurality of peristaltic turning strips 3 on the circumference, and by respectively controlling their movements in the vertical direction, the rotation angle and rotation position of the product can be respectively driven. According to the size of the circumference, different numbers of peristaltic turning strips 3 can be arranged at intervals to make the flipping angle of the product more delicate and the flipping more accurate. Different peristaltic turning strips 3 correspond to different peripheral points of the product in contact. That is, after a position of the product is dragged, it will rotate with the corresponding position on the other side as the rotation axis. Of course, more complex three-dimensional flipping actions can also be realized through the simultaneous action of multiple peristaltic turning axes.

[0033] A detection device for detecting the shape state of the object to be grasped 7 is provided inside the main body housing 1. The detection device detects the shape and orientation information of the object to be grasped 7 and sends the shape and orientation information to the control center. In a preferred embodiment, the real-time placement angle feedback of the product can be obtained through the image detection device arranged at the top of the grasping cavity, so that the control center can control the movement of the specified peristaltic flipping strip 3 according to the fastest flipping path, thereby controlling the all-round flipping of the product.

[0034] The control center receives and processes the shape and orientation information, controls the action of the specified winding drive, pulls the specified peristaltic flipping strip 3 to move back and forth along the axis of the main body housing 1. The peristaltic gripping points 4 on the driven peristaltic flipping strip 3 are closely attached to the side surface of the object to be grasped 7, driving the object to be grasped 7 to flip along the axis of the main body housing 1. The object to be grasped 7 stops after flipping to the specified shape and orientation, and maintains the object to be grasped 7 in the specified shape and orientation state. So that when placing it subsequently, it can be directly placed.

[0035] In the preferred embodiment of the adaptive three-dimensional grasping and sorting manipulator device of the present invention as described above, the following control steps are adopted for the grasping operation of the product:

[0036] Start the control center, control the bottom opening of the grasping cavity in the soft body capsule layer 2 to buckle on the corresponding object to be grasped 7, and the soft body capsule layer 2 fits the outer surface of the object to be grasped 7; place the object to be grasped 7 into the grasping cavity.

[0037] Lift the main body housing 1, place the object to be grasped 7 in the grasping cavity, and grasp the object to be grasped 7 through the inner side surface of the soft body capsule layer 2;

[0038] Control the action of the specified winding drive, pull the specified peristaltic flipping strip 3 to move back and forth along the axis of the main body housing 1. The peristaltic gripping points 4 on the driven peristaltic flipping strip 3 are closely attached to the side surface of the object to be grasped 7, driving the object to be grasped 7 to flip along the axis of the main body housing 1. The object to be grasped 7 stops after flipping to the specified shape and orientation, and maintains the object to be grasped 7 in the specified shape and orientation state; and move the object to be grasped 7 above the specified position;

[0039] Control the folding plate 5 to open outwards, and at the same time move the folding part 6 of the soft body capsule layer 2 downwards close to the surface of the specified position; release the soft body capsule layer 2, and drop the object to be grasped 7 with the adjusted placement direction onto the specified position;

[0040] Lift the main body housing 1 and move it above the next product to be grasped.

[0041] As can be known from the above grasping steps, the present invention can protect the product from damage through the "phagocytic" grasping method of the soft capsule layer 2, and can also enable the robotic arm to meet the requirements of grasping and three-dimensional rotation of the product without installing too many joints.

[0042] In the preferred embodiment of the self-adaptive three-dimensional grasping and sorting manipulator device of the present invention as described above, the peristaltic flipping strip 3 is an inflatable strip structure. A raised packet 9 is provided on the inner side surface of the peristaltic flipping strip 3, and the peristaltic grasping point 4 is provided on the lower surface of the structure of the raised packet 9. Preferably, please refer to Figure 3 and Figure 4 As shown, on the outer surface of the peristaltic flipping strip 3, that is, the side that can contact the object to be grasped 7, a plurality of raised packets 9 are provided on the surface. The peristaltic grasping point 4 is provided on the lower surface of each raised packet 9. Preferably, it can be a rubber thin block with a large friction force, used to contact the product and drive the product to rotate. Preferably, when it is necessary to contact the product and drive it to rotate, the peristaltic flipping strip 3 can be evacuated, so that the raised packet 9 shrinks. And the rubber thin block is relatively hard, so it can cover the hole after the contraction of the raised packet 9, forming a plurality of peristaltic grasping points 4 on the peristaltic flipping strip 3 that can be used to contact and drive the product to rotate. When it is not necessary to clamp the product or drive the product to rotate, the peristaltic flipping strip 3 is inflated to make the raised packet 9 bulge. At this time, the rubber thin block of the peristaltic grasping point 4 will be pushed open by the raised packet 9 and flipped downward, and is pushed to the horizontal position between two raised packets 9. At this time, the surface of the raised packet 9 that protrudes and is not the rubber thin block will contact the product. Since it is smooth, it will not generate a frictional resistance force on the product, and the product can easily slide out of the grasping cavity downward. Thus, the actions of holding and releasing the object to be grasped 7 by the grasping cavity are realized.

[0043] In the preferred embodiment of the self-adaptive three-dimensional grasping and sorting manipulator device of the present invention as described above, in the control method steps, before pulling the designated peristaltic flipping strip 3, evacuate the peristaltic flipping strip 3 to make the raised packet 9 bulge outwards, and the peristaltic grasping point 4 adheres to the outer surface of the object to be grasped 7.

[0044] In the preferred embodiment of the adaptive three-dimensional grasping and sorting manipulator device of the present invention as described above, the detection device is installed at the upper end of the main body housing 1 facing the object to be grasped 7, and the detection device is an image detector. Preferably, the present invention can detect the shape and placement direction of the grasped product in the grasping cavity through the image detector, and then compare it with the required shape and direction. By controlling the peristaltic flipping strip 3, precise control of the flipping action of the object to be grasped 7 can be achieved. Further, the present invention can also detect the distance between the outer wall and the inner wall of multiple groups of the soft body layer 2 by a plurality of distance detectors provided in the soft body layer 2, so as to depict the overall shape characteristics of the object to be grasped 7, thereby obtaining real-time shape and placement direction information of the object to be grasped 7, which is provided to the control center for analysis and issuing control instructions for the peristaltic flipping strip 3, so that actions such as flipping of the product can be realized with the simplest operation.

[0045] In the preferred embodiment of the adaptive three-dimensional grasping and sorting manipulator device of the present invention as described above, a folding portion 6 is provided at the lower end of the soft body layer 2, and a plurality of folding plates 5 are correspondingly provided outside the folding portion 6. The bottom of each folding plate 5 is hinged to the lower edge of the main body housing 1; a folding driving mechanism 8 for pushing the folding plate 5 from the outside to the inside and folding it to a specified position is provided on the folding plate 5; through the setting of the folding portion 6, when the main body housing 1 is buckled downward on the product, it can effectively prevent directly pressing on the product. Even if the buckling position is deviated, only the soft part of the folding portion 6 will press on the product, and no damage will be caused. Moreover, after grasping an object, the folding portion 6 can form a function similar to the cover at the bottom of the grasping cavity through the pushing of the folding plate 5.

[0046] In the control step, after starting the control center, first control the folding driving mechanism 8 to drive the folding plate 5 to the outward horizontal position state, open the opening at the bottom of the grasping cavity, and buckle it on the corresponding object to be grasped 7; ensure that the object to be grasped 7 is not damaged and is smoothly "swallowed" into the grasping cavity.

[0047] Then, control the folding driving mechanism 8 to drive the folding driving mechanism 8 to cover the bottom of the soft body layer 2 inward, and at the same time lift the main body housing 1; further perform the flipping action driven by the peristaltic flipping strip 3.

[0048] When the object to be grasped 7 is moved above the specified position, control the folding plate 5 to open outward, and at the same time move the folding portion 6 of the soft body layer 2 downward close to the surface of the specified position; release the soft body layer 2, and drop the object to be grasped 7 with the adjusted placement direction onto the specified position. Thereby, the folding portion 6 plays a role of protection and covering and pressing, so that the product is further protected.

[0049] In the preferred embodiment of the adaptive three-dimensional grasping and sorting manipulator device of the present invention as described above, a perforation is provided on the folding part 6, and the peristaltic turning strip 3 passes through the perforation and is connected to the reel. Preferably, the peristaltic turning strip 3 does not need to completely bypass the folding part 6 from below, but only needs to pass through the perforation and wind around the reel on the main body housing 1. The reel can be a spring-loaded reel. This can prevent the peristaltic turning strip 3 from being pressed below and unable to move.

[0050] The adaptive three-dimensional grasping and sorting manipulator device of the present invention, through a clever design, changes the structure and clamping action mode of the conventional manipulator, forming an action mode similar to soft body swallowing, and "eating" the product into the grasping cavity of the manipulator. Since the soft body layer 2 is a soft body layer formed by filling a medium, it can effectively protect the product from being damaged or worn. Through the setting of the peristaltic turning strip 3 in the grasping cavity, the product can be flipped along the direction of the axis of the grasping cavity with the peristaltic turning strip 3 at a specified position. There is no need to clamp the product from the side and then flip it like the existing robotic arm, but directly flip it inside the manipulator. When it is moved to the specified placement position, it can be directly placed on the placement plane to achieve the purpose of placing the product in the specified shape and direction. The present invention has a novel concept, breaks through the conventional design mode of the existing robotic arm, realizes a more effective operation mode of the robotic arm, and can also effectively reduce the installation space required by the assembly line due to the multiple rotations of the robotic arm, or adopt a structure with more segments of robotic limbs, reducing space occupancy, reducing the cost of the robotic arm, and improving product competitiveness.

[0051] The above description is only a schematic specific embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principles of the present invention shall fall within the scope of protection of the present invention.

Claims

1. An adaptive three-dimensional grasping and sorting manipulator device, characterized in that It includes a main body housing which is a downwardly buckled cylindrical structure. A soft body capsule layer is sleeved inside the main body housing. The inside of the capsule of the soft body capsule layer is filled with a flowing medium. The soft body capsule layer is a hollow tubular structure, and its inner space is a grasping cavity; On the inner circumferential surface of the soft body capsule layer, a plurality of peristaltic turning strips are provided at set angular distances. The peristaltic turning strips are arranged along the inner axial direction of the soft body capsule layer. The lower ends of the peristaltic turning strips bypass the lower end of the soft body capsule layer to the outside of the main body housing and are connected to a reel. The upper ends of the peristaltic turning strips pass out above the soft body capsule layer and are connected to a reel driving device arranged at the top of the main body housing. The inner sides of the peristaltic turning strips are provided with peristaltic grasping points; A detection device for detecting the shape state of the object to be grasped is arranged inside the main body housing. The detection device detects the shape and orientation information of the object to be grasped and sends the shape and orientation information to the control center; A folding part is provided at the lower end of the soft body capsule layer. A plurality of folding plates are correspondingly arranged outside the folding part. The bottoms of the folding plates are hinged to the lower edge of the main body housing. A folding driving mechanism for pushing the folding plates from the outside to the inside and folding them to a specified position is provided on the folding plates; The control center receives and processes the shape and orientation information, controls the specified reel driving device to act, pulls the specified peristaltic turning strip to move back and forth along the axial direction of the main body housing. The peristaltic grasping points on the driven peristaltic turning strip closely adhere to the side surface of the object to be grasped, driving the object to be grasped to flip along the axial direction of the main body housing. The object to be grasped stops after flipping to the specified shape and orientation, and maintains the object to be grasped in the specified shape and orientation state.

2. The adaptive three-dimensional grasping and sorting manipulator device according to claim 1, characterized in that The following control steps are adopted for the grasping operation of the product: Start the control center, control the bottom opening of the grasping cavity inside the soft body capsule layer to buckle on the corresponding object to be grasped, and the soft body capsule layer fits the outer surface of the object to be grasped; Lift the main body housing, place the object to be grasped into the grasping cavity, and grasp the object to be grasped through the inner side surface of the soft body capsule layer; Control the specified reel driving device to act, pull the specified peristaltic turning strip to move back and forth along the axial direction of the main body housing. The peristaltic grasping points on the driven peristaltic turning strip closely adhere to the side surface of the object to be grasped, driving the object to be grasped to flip along the axial direction of the main body housing. The object to be grasped stops after flipping to the specified shape and orientation, and maintains the object to be grasped in the specified shape and orientation state; and move the object to be grasped above the specified position; Control the folding plates to open outwards, and at the same time move the folding part of the soft body capsule layer downwards close to the surface of the specified position; Release the soft body capsule layer, and let the object to be grasped with the adjusted placement direction fall onto the specified position; Lift the main body housing and move it above the next product to be grasped.

3. The adaptive three-dimensional grasping and sorting manipulator device according to claim 2, wherein The peristaltic turning strip is an inflatable strip structure. A raised package is provided on the inner side surface of the peristaltic turning strip. The peristaltic grasping points are provided on the lower side surface of the raised package structure.

4. The adaptive three-dimensional grasping and sorting manipulator device according to claim 3, wherein, In the control step, before pulling the specified peristaltic flipping strip, air is pumped into the peristaltic flipping strip to bulge the convex package outwards, and the peristaltic gripping points adhere to the outer surface of the object to be gripped.

5. The adaptive three-dimensional grasping and sorting manipulator device according to claim 1, characterized in that The detection device is installed at the upper end of the main body housing opposite to the object to be gripped, and the detection device is an image detector.

6. The adaptive three-dimensional grasping and sorting manipulator device according to claim 2, wherein In the control step, after starting the control center, first control the folding drive mechanism to drive the folding plate to an outward horizontal position state, open the bottom opening of the grasping cavity, and buckle it on the corresponding object to be gripped; Then, control the folding drive mechanism to drive the folding drive mechanism to cover the bottom of the soft body capsule layer inwards, and at the same time lift the main body housing.

7. The adaptive three-dimensional grasping and sorting manipulator device according to claim 1, wherein The folding part is provided with a perforation, and the peristaltic flipping strip passes through the perforation and is connected to the reel.

Images